<html>
  <head>
    <meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
    <title>krac2</title>
  </head>
  <body bgcolor="#FFFFFF">
    <center>Scilab Function</center>
    <div align="right">Last update : April 1993</div>
    <p>
      <b>krac2</b> -  continuous SISO system limit feedback gain</p>
    <h3>
      <font color="blue">Calling Sequence</font>
    </h3>
    <dl>
      <dd>
        <tt>g=krac2(sys)  </tt>
      </dd>
    </dl>
    <h3>
      <font color="blue">Parameters</font>
    </h3>
    <ul>
      <li>
        <tt>
          <b>sys</b>
        </tt>: SISO linear system (syslin)</li>
      <li>
        <tt>
          <b>g</b>
        </tt>: constant</li>
    </ul>
    <h3>
      <font color="blue">Description</font>
    </h3>
    <p>
      <tt>
        <b>krac2(sys)</b>
      </tt> computes the gains <tt>
        <b>g</b>
      </tt> such that the system
    <tt>
        <b>sys</b>
      </tt> fedback by g (<tt>
        <b>sys/.g</b>
      </tt>) has  2 real equal poles.</p>
    <h3>
      <font color="blue">Examples</font>
    </h3>
    <pre>

h=syslin('c',352*poly(-5,'s')/poly([0,0,2000,200,25,1],'s','c'));
xbasc();evans(h,100)
g=krac2(h)
hf1=h/.g(1);roots(denom(hf1))
hf2=h/.g(2);roots(denom(hf2))
 
  </pre>
    <h3>
      <font color="blue">See Also</font>
    </h3>
    <p>
      <a href="../graphics/evans.htm">
        <tt>
          <b>evans</b>
        </tt>
      </a>,&nbsp;&nbsp;<a href="kpure.htm">
        <tt>
          <b>kpure</b>
        </tt>
      </a>,&nbsp;&nbsp;</p>
  </body>
</html>
